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How to transform navigation to follow me?

asked 2021-11-18 06:48:28 -0500

Alessandro Melino
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Hello.

I have a whole system working with ROS1 navigation (global_planner and teb_local_planner) and now I would like to make a follow me. I have the person position all the time but I don't know how to approach to the problem, maybe modifying the goal every some time? There is any existing approach to this problem? Maybe something like turtlebot_follower?

Any ideas would be useful. Thank in advance.

Best regards. Alessandro

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answered 2021-11-18 07:57:38 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

I don't think the navigation stack is really a good solution for this. Navigation has both a global planner and local controller - you really only need the local controller for something like following, and the replan time is likely to be higher than you want from the global planner if you are constantly changing the goal. Something like the turtlebot_follower is a pure controller that will drive towards the target pose.

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Thank you for your answer. I comment that because I saw it done in ROS2. Anyway, if I make an algorithm for the controller to follow the position of the person, it possible to run obstacle avoidance with navigation at the same time?

Alessandro Melino ( 2021-11-18 08:06:14 -0500 )edit

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Asked: 2021-11-18 06:48:28 -0500

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Last updated: Nov 18 '21

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How to transform navigation to follow me?